Traffic violation and the flexible and changeable nature of pedestrians make it more difficult to predict pedestrian behavior or intention, which might be a potential safety hazard on the road. Pedestrian motion state (such as walking and standing) directly affects or reflects its intention. In combination with pedestrian motion state and other influencing factors, pedestrian intention can be predicted to avoid unnecessary accidents. In this paper, pedestrian is treated as non-rigid object, which can be represented by a set of two-dimensional key points, and the movement of key point relative to the torso is introduced as micro motion. Static and dynamic micro motion features, such as position, angle and distance, and their differential calculations in time domain, are used to describe its motion pattern. Gated recurrent neural network based seq2seq model is used to learn the dependence of motion state transition on previous information, finally the pedestrian motion state is estimated via a softmax classifier. The proposed method only needs the previous hidden state of GRU and current feature to evaluate the probability of current motion state, and it is computation efficient to deploy on vehicles. This paper verifies the proposed algorithm on the JAAD public dataset, and the accuracy is improved by 11.6% compared with the existing method.

In this paper a parking space detection method is proposed. It is based on the grid map projection and utilizes the ultrasonic sensors. Firstly, it applies a virtual grid map to quantify the observing target space and build a coordinate system. Then the probable outline of the targets can be deduced from the ultrasonic wave echo signal and projected into the grid map. The boundary of the object can be obtained by comparing the overlap number of the outline in the grid with a threshold. In this way, the size of the target space can be calculated and determined whether it is proper for parking a vehicle. The method is simple while remaining effective. It can be well validated by the experimental results and the accuracy is better than 0.2m.